The service at St Eberhard's Catholic Cathedral in Stuttgart saw clergy from both churches gather to mark the release of the revised German manuscripts.
The release comes ahead of the 500th anniversary of the Reformation which began when Martin Luther developed his 95 Theses against the practices of the Catholic Church.
A group of 200 people from both churches took part in the revision process of both Bibles.
"With the new translations, we remember our shared foundation - the sacred Scriptures - and together express our appreciation for each other's translation," said Lutheran Bishop Heinrich Bedford-Strohm, chairman of the Council of the Evangelical Church in Germany.
The release of the Bible translations is one of several ecumenical services planned in Germany which will bring both churches together this year. It is hoped the joint fellowship will help heal the rift been the denominations.
"I am very pleased that we are placing God's word in our midst in such an ecumenically meaningful year as 2017, in which we together recall the events of the Reformation 500 years ago and celebrate them today as a celebration of Christ, to place God's word in our midst," said Catholic Cardinal Reinhard Marx of Munich and Freising.